//--------    FILE: meta_vehicle.bhv   -------------

initialize   DEPLOY = false
initialize   RETURN = false
initialize   AVOIDING = idle
//initialize   DRIFT_X = 0.5
//initialize   DRIFT_Y = 0.7

//----------------------------------------------
Behavior = BHV_SailMax2
{
  name      = sailmax2
  pwt       = 100
  condition = RETURN = false
  condition = DEPLOY = true
	endflag   = RETURN = true
  updates   = SAIL_UPDATE
  perpetual = true

                   speed = 2.0      // m/s
          capture_radius = 10       // m from waypoint
      close_hauled_angle = 55       // ° closest sail angle from true wind direction
     dead_downwind_angle = 15        // ° from 180
      wind_filter_length = 180      // sec
             m_course_kp = 0        // not implemented yet (0 has no effect)
                  repeat = 0        // number of times to repeat points
               turn_mode = jibe_preferred  // dont_care (default), jibe_preferred, tack_preferred
          jibe_increment = 45       // °
          tack_increment = 45       // degrees

#ifdef SHAPE tri
      points = pts={50,-50:150,-100:150,-50:50,-50}
#elseifdef SHAPE rect
      //points = pts={25,-25:75,-25:75,-125:25,-125:25,-25}
      points = pts={-25,-45:50,-80:100,-80:175,-45:175,-120:100,-80:50,-80:-25,-120:-25,-45}
      //points = pts={25,-25:50,0:75,-25:100,0:125,-25}
#elseifdef SHAPE oct
      points = pts={48,-25:102,-25:140,-63:140,-117:102,-155:48,-155:10,-117:10,-63:48,-25}
#endif
#ifdef ORDER
                   order = $(ORDER)
#endif
#ifdef REPEAT
                  repeat = $(REPEAT)
#endif

//#include plug_boundary.moos
#include plug_polar.moos
}

//----------------------------------------------
Behavior = BHV_SailMax2
{
  name      = return
  pwt       = 100
  condition  = RETURN = true
  condition  = DEPLOY = true
  perpetual  = true
  updates    = RETURN_UPDATE
  endflag    = RETURN = false
  endflag    = DEPLOY = false
  endflag    = MISSION = complete

               speed = 2.0      // m/s
      capture_radius = 5       // m from waypoint
  close_hauled_angle = 55       // ° closest sail angle from true wind direction
  wind_filter_length = 180      // sec
         m_course_kp = 0        // not implemented yet (0 has no effect)
              repeat = 0        // number of times to repeat points
           turn_mode = tack_preferred  // dont_care (default), jibe_preferred, tack_preferred
      jibe_increment = 50       // °
      tack_increment = 50       // degrees

#ifdef ORDER
               order = $(ORDER)
#endif
#ifdef REPEAT
               repeat = $(REPEAT)
#endif

#ifdef REGION pavlab
      points = pts={0,-20}
#else
      points = pts={0, 0}
#endif

#include plug_polar.moos
}